ASV自动对接轨迹规划与控制及全尺寸试验
Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments
摘要：
我们提出了一种方法，用于执行自动对接的小型自主水面车辆（ASV）的互连基于优化的轨迹规划与动态定位（DP）控制器的轨迹跟踪。轨迹规划器通过考虑具有静态障碍物的地图来提供无碰撞轨迹，并且通过包括ASV及其致动器的数学模型来产生可行的轨迹。DP控制器跟踪时间参数化的位置，速度和加速度的轨迹规划器使用比例积分微分反馈与速度和加速度前馈。该方法的性能进行了测试，在挪威特隆赫姆的封闭水域的小型ASV。ASV在跟踪生成的参考轨迹时，相对于静态障碍物执行无碰撞对接机动，并实现成功对接。
英文摘要：
We propose a method for performing automatic docking of a small autonomous surface vehicle (ASV) by interconnecting an optimization-based trajectory planner with a dynamic positioning (DP) controller for trajectory tracking. The trajectory planner provides collision-free trajectories by considering a map with static obstacles, and produces feasible trajectories through inclusion of a mathematical model of the ASV and its actuators. The DP controller tracks the time-parametrized position, velocity and acceleration produced by the trajectory planner using proportional-integral-derivative feedback with velocity and acceleration feed forward. The method's performance is tested on a small ASV in confined waters in Trondheim, Norway. The ASV performs collision-free docking maneuvers with respect to static obstacles when tracking the generated reference trajectories and achieves successful docking.
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